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United States Patent | 6,025,852 |
Zhao | February 15, 2000 |
Manipulation of a graphic structure having a root, a joint and an end effector to a configuration positioning the structure's end effector at a goal position is aided by determining characteristic configurations for the structure having different distances between the root and the end effector. The characteristic configurations form the basis of a transition function mapping goal distances between the root and goal positions to intermediate configurations, with the intermediate configurations having end effector distances (between the root and end effector) equal to the corresponding goal distances. The intermediate configuration may be reoriented to a final configuration positioning the end effector at the goal position.
Inventors: | Zhao; Jianmin (25121 41.sup.st Dr., Issaquah, WA 98029) |
Appl. No.: | 653671 |
Filed: | May 24, 1996 |
Current U.S. Class: | 345/474; 345/473 |
Intern'l Class: | G06F 017/50 |
Field of Search: | 345/473,474 395/99,95,90 364/167.01,512,474.24 |
4831549 | May., 1989 | Red et al. | 364/167. |
4949277 | Aug., 1990 | Trovato et al. | 395/90. |
5043929 | Aug., 1991 | Kramer et al. | 364/512. |
5249151 | Sep., 1993 | Chang et al. | 364/474. |
5294873 | Mar., 1994 | Seraji | 395/95. |
5495410 | Feb., 1996 | Graf | 364/167. |
5506949 | Apr., 1996 | Perrin | 345/473. |
5511147 | Apr., 1996 | Abdel-Malek | 395/99. |
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